Project files

Bluetooth control end operation instructions for quadruped robot

There are four main modes

1. Standing mode

   GaitMode = GaitMode_Stand;

• Data sent is ??
• The standing mode is active immediately after initialization
• Pressing any undefined key will also restore the standing mode

2. Trot gait mode

   GaitMode = GaitMode_Trot;

• Data sent is 11
• Pressing the Trot gait button enters the Trot gait mode
• In this mode, there are 7 sub-modes to choose from
  1. Move forward: data sent is 02
  2. Move backward: data sent is 08
  3. Move left laterally: data sent is 04
  4. Move right laterally: data sent is 06
  5. Trot in place: data sent is 05
  6. Rotate left: data sent is 01
  7. Rotate right: data sent is 03
  8. Automatic obstacle avoidance: data sent is 19

3. Body twist mode

   GaitMode = GaitMode_Body_Twist;

• Data sent is 13
• Pressing the Body twist button enters the body twist mode
• In this mode, there are 7 sub-modes to choose from
  1. Twist forward: data sent is 02
  2. Twist backward: data sent is 08
  3. Twist left: data sent is 04
  4. Twist right: data sent is 06
  5. Body lower: data sent is 05
  6. Swing left: data sent is 01
  7. Swing right: data sent is 03
  8. IMU self-stabilization: data sent is 19